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Novel IMU-Based Motion Monitoring for Daily Activities
- 1. A Novel Motion Monitoring System for Activities of Daily Living Xiang He New York Institute of Technology Old Westbury, NY October 2015
- 2. 1. Activities of daily living (ADLs) 2. Novel motion monitoring system 3. Tests and results 4. Conclusion 5. Future work Content
- 3. 1. Activities of daily living (ADLs) Activities of daily living examples
- 4. Problems: ā¢High healthcare cost ā¢In lack of proactive healthcare 1. Activities of daily living (ADLs)
- 5. 1. Activities of daily living (ADLs) 2. Novel motion monitoring system 3. Tests and results 4. Conclusion 5. Future work Content
- 6. 2. Novel motion monitoring system Markerless or marker-based motion capture (mo-cap) system VS inertial measurement unit (IMU) based mo-cap system
- 7. 2. Novel motion monitoring system
- 8. 2. Novel motion monitoring system Quaternion algorithm Quaternion šµ š“ š = [š1 š2 š3 š4] = cos š 2 ā šš„ sin š 2 ā šš¦ sin š 2 ā šš§ sin š 2 Gyroscope Angular rate Accelerometer Direction of gravity Magnetometer Direction of magnetic field Defection angles roll (X), pitch (Y) and yaw (Z)
- 9. 2. Novel motion monitoring system
- 10. 2. Novel motion monitoring system Motion trajectory reconstruction (š š„ , š š¦ , š š§ ) (š š„ , š š¦ , š š§ ) (š š„ , š š¦ , š š§ ) Quaternion Algorithm Defection angles in three axis (roll, pitch and yaw) Acceleration Velocity Displacement
- 11. 2. Novel motion monitoring system System architecture Data collection using a IMU-based device Real-time signal displaying and saving program
- 12. 2. Novel motion monitoring system The IMU-based device: SensorTag (Texas Instruments)
- 13. 2. Novel motion monitoring system SensorTag components
- 14. 2. Novel motion monitoring system Sensorsā sampling rates and data range
- 15. 2. Novel motion monitoring system SensorTag firmware flowchart ā¢ Initialize the device and advertise ā¢ Turn on sensors and send data ā¢ Disable sensors and back to advertising status
- 16. 2. Novel motion monitoring system SensorTag connection with smartphone and laptop
- 17. 2. Novel motion monitoring system BLE connection with smartphone
- 18. 2. Novel motion monitoring system LabVIEW program flowchart ā¢ Establish the connection ā¢ Read and display signals ā¢ Save data and disconnect
- 19. 2. Novel motion monitoring system Signalsā display and save
- 20. 1. Activities of daily living (ADLs) 2. Novel motion monitoring system 3. Tests and results 4. Conclusion 5. Future work Content
- 21. 3. Tests and results ā¢Linear displacement measuring ā¢Eating gesture monitoring ā¢Walking monitoring
- 22. 3. Tests and results ā¢Linear displacement measuring experiment ā¢Eating gesture monitoring ā¢Walking monitoring
- 23. 3. Three experiments ā¢Linear displacement measuring experiment ā¢SensorTag system
- 24. 3. Three experiments ā¢Linear displacement measuring experiment ā¢SensorTag system
- 25. 3. Three experiments ā¢Linear displacement measuring experiment ā¢Marker-based mo-cap system
- 26. 3. Three experiments ā¢SensorTag system displacement measurement error rate ā¢Linear displacement measuring experiment ā¢Marker-based mo-cap system
- 27. 3. Three experiments ā¢Eating gesture monitoring 1 2 3 4
- 28. 3. Three experiments ā¢Eating gesture monitoring
- 29. 3. Three experiments ā¢Eating gesture monitoring
- 30. 3. Three experiments ā¢Walking monitoring
- 31. 3. Three experiments ā¢Walking monitoring ā¢Left and right wrists
- 32. 3. Three experiments ā¢Walking monitoring ā¢Left and right knees
- 33. 3. Three experiments ā¢Walking monitoring ā¢Left and right ankles
- 34. 3. Three experiments ā¢Walking monitoring ā¢Ankle displacement measurement error rates
- 35. 4. Conclusion ā¢The displacement measuring results are good for linear motions. ā¢The algorithm failed to revise the direction during eating gesture reconstruction.
- 36. 5. Future work ā¢Angular and displacement computation. ā¢More convenient to use on smartphones.
- 37. 5. Questions? Thanks for your time.
Editor's Notes
- Thank you for your time.
- What are ADLs and whatās the purpose of applying a motion monitoring system to healthcare?
- Very hard for the elderly, disabled, and chronic disease patients.
- A real-time ADLs motion monitoring system can help.
- Markerless and marker-based mo-cap system are used for animation and filming. They are set up in camera studios and very expensive, although they are accurate. On the other hand, IMU-based system is cheaper and wearable.
- Markerless and marker-based mo-cap usually have nine or more cameras. Depth sensing like Microsoft Kinect only has three cameras at most. Electromyography (EMG) measures the electrical activity produced by skeletal muscles.
- Quaternion is used to represent the orientation including three types of deflection angles roll (X), pitch (Y) and yaw (Z).
- Markerless and marker-based mo-cap usually have nine or more cameras. Depth sensing like Microsoft Kinect only has three cameras at most. Electromyography (EMG) measures the electrical activity produced by skeletal muscles.
- The direction angles is computed in quaternion, and then use the accelerometer data for acceleration, velocity and displacement calculation.
- Small to be wearable.
- Only use three sensors. CC2541 is an ultra low power system on chip (SoC) Bluetooth low energy (BLE) solution.
- The sampling rate ranges of accelerometer and gyroscope are very wide, but gyroscope consumes very much power with 200Hz or higher, and the magnetometer can only achieve 80Hz at most, thus I only tests up to 100Hz to collect enough data and gain more power savings.
- Operating System Abstraction Layer (OSAL) is used in Bluetooth low energy (BLE) protocol. It schedules events in BLE application, and the eleventh one is SensorTag event to perform read and write.
- Classic Bluetooth canāt communicate with BLE or Bluetooth smart. Bluetooth smart ready devices can pair with two previous kinds of devices.
- Up to seven slave devices can be connected to one central device.
- 10 seconds to scan for devices and reading starts in 5 seconds after connection.
- Data and timestamp save in txt files.
- Test the system with displacement measuring error rates, and try to rebuild the two ADLs.
- Motion capture lab with 9 cameras. Move the SensorTag along the ruler for 60cm and stop for 1 second every 10cm.
- The hand failed to move the SensorTag in a straight line.
- Prove the potential to rebuild the motion
- Prove the potential to rebuild the motion
- Walk 13ft, which is 3.9624m. The ceramic tile is a 1ft-side-length square.
- Wrists moved shorter for relative displacement.
- For stable long-term angular calculation, it might help to use a better gyroscope and the algorithm needs more improvements.
- Develop a better orientation algorithm based on quaternion. Increase the three sensorsā sampling rates. Apply CC2650 with better accelerometer, gyroscope and magnetometer or to build a customized circuit. Develop a smartphone application to connect six SensorTags.